Add ros1 benchmark coverage for rosbags and mcap

[siliconlad]

Summary

• extend the benchmark utilities to generate ROS 1 odometry test data and to create matching rosbag1 and MCAP fixtures
• add raw, decoded, and writer benchmark cases that compare rosbags with the official mcap library for ROS 1 recordings
• include the mcap-ros1-support dependency required for the new benchmarks

Testing

• uv run --group test pytest . (fails: existing MCAP reader tests unrelated to this change)
• uvx pre-commit run -a

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https://chatgpt.com/codex/tasks/task_e_68d0eaccb594832db1472b4fab56cad3